Urdf-Environments for OpenAI-Gym

URDF environments for gym
The simulation environment facilitates simulation of robotic systems with pybullet as its physics engine.
Robots are specified by the URDF-description and are simulated using pybullet.
The interface is the widely used OpenAI-Gym so that reinforcement learning methods can be used. This simulation environment should facilitate motion planning research and prototyping of algorithms.